دورية أكاديمية
أعرض في EDS

A novel virtual robotic platform for controlling six degrees of freedom assistive devices with body-machine interfaces.

التفاصيل البيبلوغرافية
العنوان: A novel virtual robotic platform for controlling six degrees of freedom assistive devices with body-machine interfaces.
المؤلفون: Augenstein TE; Robotics Department, University of Michigan, Ann Arbor, MI, USA; NeuRRo Lab, Department of Physical Medicine and Rehabilitation, University of Michigan, Ann Arbor, MI, USA., Nagalla D; Robotics Department, University of Michigan, Ann Arbor, MI, USA; NeuRRo Lab, Department of Physical Medicine and Rehabilitation, University of Michigan, Ann Arbor, MI, USA., Mohacey A; Robotics Department, University of Michigan, Ann Arbor, MI, USA; NeuRRo Lab, Department of Physical Medicine and Rehabilitation, University of Michigan, Ann Arbor, MI, USA., Cubillos LH; Robotics Department, University of Michigan, Ann Arbor, MI, USA; NeuRRo Lab, Department of Physical Medicine and Rehabilitation, University of Michigan, Ann Arbor, MI, USA., Lee MH; Department of Kinesiology, Michigan State University, Lansing, MI, USA., Ranganathan R; Department of Kinesiology, Michigan State University, Lansing, MI, USA; Department of Mechanical Engineering, Michigan State University, Lansing, MI, USA., Krishnan C; Robotics Department, University of Michigan, Ann Arbor, MI, USA; NeuRRo Lab, Department of Physical Medicine and Rehabilitation, University of Michigan, Ann Arbor, MI, USA; Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI, USA; Department of Kinesiology, University of Michigan, Ann Arbor, MI, USA; Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA; Department of Physical Therapy, University of Michigan, Flint, MI, USA. Electronic address: mouli@umich.edu.
المصدر: Computers in biology and medicine [Comput Biol Med] 2024 Aug; Vol. 178, pp. 108778. Date of Electronic Publication: 2024 Jun 25.
نوع المنشور: Journal Article
اللغة: English
بيانات الدورية: Publisher: Elsevier Country of Publication: United States NLM ID: 1250250 Publication Model: Print-Electronic Cited Medium: Internet ISSN: 1879-0534 (Electronic) Linking ISSN: 00104825 NLM ISO Abbreviation: Comput Biol Med Subsets: MEDLINE
أسماء مطبوعة: Publication: New York : Elsevier
Original Publication: New York, Pergamon Press.
مواضيع طبية MeSH: Robotics* , Self-Help Devices*, Humans ; Adult ; Male ; Female ; User-Computer Interface ; Brain-Computer Interfaces
مستخلص: Body-machine interfaces (BoMIs)-systems that control assistive devices (e.g., a robotic manipulator) with a person's movements-offer a robust and non-invasive alternative to brain-machine interfaces for individuals with neurological injuries. However, commercially-available assistive devices offer more degrees of freedom (DOFs) than can be efficiently controlled with a user's residual motor function. Therefore, BoMIs often rely on nonintuitive mappings between body and device movements. Learning these mappings requires considerable practice time in a lab/clinic, which can be challenging. Virtual environments can potentially address this challenge, but there are limited options for high-DOF assistive devices, and it is unclear if learning with a virtual device is similar to learning with its physical counterpart. We developed a novel virtual robotic platform that replicated a commercially-available 6-DOF robotic manipulator. Participants controlled the physical and virtual robots using four wireless inertial measurement units (IMUs) fixed to the upper torso. Forty-three neurologically unimpaired adults practiced a target-matching task using either the physical (sample size n = 25) or virtual device (sample size n = 18) involving pre-, mid-, and post-tests separated by four training blocks. We found that both groups made similar improvements from pre-test in movement time at mid-test (Δvirtual: 9.9 ± 9.5 s; Δphysical: 11.1 ± 9.9 s) and post-test (Δvirtual: 11.1 ± 9.1 s; Δphysical: 11.8 ± 10.5 s) and in path length at mid-test (Δvirtual: 6.1 ± 6.3 m/m; Δphysical: 3.3 ± 3.5 m/m) and post-test (Δvirtual: 6.6 ± 6.2 m/m; Δphysical: 3.5 ± 4.0 m/m). Our results indicate the feasibility of using virtual environments for learning to control assistive devices. Future work should determine how these findings generalize to clinical populations.
Competing Interests: Declaration of competing interest None of the authors have any conflict of interest.
(Copyright © 2024 Elsevier Ltd. All rights reserved.)
فهرسة مساهمة: Keywords: Postural control; Rehabilitation; Robot control; Stroke
تواريخ الأحداث: Date Created: 20240626 Date Completed: 20240723 Latest Revision: 20240723
رمز التحديث: 20240723
DOI: 10.1016/j.compbiomed.2024.108778
PMID: 38925086
قاعدة البيانات: MEDLINE
الوصف
تدمد:1879-0534
DOI:10.1016/j.compbiomed.2024.108778